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@string{PERMIS = "Proc.~of the Performance Metrics for Intelligent Systems ({P}er{MIS}) Workshop"},
@string{ROBOCUP06 = "Robocup 2006: Robot Soccer World Cup X"}
@string{CDNOTE = "(Proc. CD-ROM)"}

@inproceedings{Gutmann2002,
 author = {J.-S. Gutmann and D. Fox}, 
 title = {An Experimental Comparison of Localization Methods Continued}, 
 booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'02)},
 location = {Lausanne, Switzerland},
 month = {October},
 year =  2002,
}

@inproceedings{Kristensen2003,
  author = {S. Kristensen and P. Jensfelt},
  title = { An Experimental Comparison of Localisation Methods, the MHL Sessions}, 
  booktitle ={Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'03)},
  year = 2003,
}
@article{Kose2006,
 author = {Hatice Kose and Buluc Celik and {H. Levent} Akin},
 title = {Comparison of localization methods for a robot soccer team},
 journal = {International journal of advanced robotic systems},
 year = 2006,
 volume = 3,
 issue = 4,
 page = {295--302},
 issn = {1729-8806},
 _url = {http://www.intechweb.org/journals/volume/issn/1729-8806/volume/3/number/4},
}

@article{PeraltaCabezas2008,
 author = {J. L. Peralta-Cabezas and M. Torres-Torriti and M. Guarini-Hermann},
 year = {2008},
 title = {A comparison of Bayesian prediction techniques for mobile robot trajectory tracking},
 journal = {Robotica},
 volume = 26,
 issue = 5,
 page =  {571--585},
 doi = {10.1017/S0263574708004153},
 _url={http://journals.cambridge.org/action/displayAbstract?fromPage=online&aid=2171388},
}

@inproceedings{Browning2002,
  author = {Brett Browning and Michael Bowling and Manuela Veloso},
  title = {Improbability Filtering for Rejecting False Positives},
  booktitle = {Proceedings of 2002 IEEE International Conference on Robotics and Automation},
  year = {2002},
  month = {May},
  location = {Washington DC, USA},
  page = {3038-3043},
  _url = {http://www.cs.cmu.edu/~brettb/papers/02icra-cmdragons.pdf},
}

@misc{Crisman2002,
 author = {Z. Crisman and E. Curre and C.T. Kwok and L. Meyers and N. Ratliff and L. Tsybert and D. Fox},
 title = {Team {D}escription: {UW} {H}uskies-02},
 year = 2002,
 howpublished = {University of Washington},
}

@misc{Parsons2005,
 author = {S. Parsons},
 title = {A note on robot localization},
 year = 2005,
 month = {January},
 howpublished = {Brooklyn College, City University of New York},
}


 
@Misc{USARSimManual,
  OPTkey =       {},
  author =       {J. Wang and S. Balakirsky},
  title =        {USARSim V 3.1.1},
  month =        {May},
  year =         {2007},
  howpublished = {{\small \url{http://sourceforge.net/projects/usarsim}}}},
  OPTmonth =     {},
  OPTnote =      {},
  OPTannote =    {}
}

@misc{Aljanar2009doas,
author = {Fares Alnajar and Hanne Nijhuis},
title = {Improvements of a {H}eterogeneous {R}escue {T}eam},
school = {Universiteit van Amsterdam},
howpublished = {Report, Universiteit van Amsterdam},
month = {January},
day = 29,
year = {2009},
_url={http://staff.science.uva.nl/~arnoud/education/DOAS/2009/HeterogeneousRobotTeam.pdf}
}

@InProceedings{Aljanar2010,
        author = {Fares Alnajar and Hanne Nijhuis and Arnoud Visser},
  	title = {Coordinated action in a {H}eterogeneous {R}escue {T}eam},
        booktitle = {Proceedings of the 13th RoboCup International Symposium},
        month = {July}, 
        year = 2009,
        location = {Graz, Austria},
        note = {Proceedings CD. To be published in "RoboCup 2009: Robot Soccer World Cup XIII", (edited by J. Baltes et al.), Lecture Notes on Artificial Intelligence series, volume 5949, p. 1-10, Springer, Heidelberg (2010)},
        url = {http://www.science.uva.nl/~arnoud/publications/Alnajar_CoordinatedAction.pdf},
}    

@INPROCEEDINGS{Aljanar2009robocup,
  author = {Fares Alnajar and Hanne Nijhuis and Arnoud Visser},
  title = {Coordinated action in a {H}eterogeneous {R}escue {T}eam},
  booktitle = {Proceedings of the 13th RoboCup International Symposium},
  year = {2009},
  month = {July},
  location = {Graz, Austria},
  note = {To be published in the Lecture Notes on Artificial Intelligence series.},
  url = {http://www.science.uva.nl/~arnoud/publications/Alnajar_CoordinatedAction.pdf},
}

@article{Bajracharya2008,
author = {Max Bajracharya and Mark W. Maimone and Daniel Helmick},
title = {Autonomy for {M}ars {R}overs: {P}ast, {P}resent, and {F}uture},
journal ={Computer},
volume = {41},
number = {12},
issn = {0018-9162},
year = {2008},
pages = {44-50},
doi = {http://doi.ieeecomputersociety.org/10.1109/MC.2008.515},
url = {http://boole.computer.org/portal/cms_docs_computer/computer/homepage/Dec08/r12bajr.pdf},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}

@ARTICLE{Balakirsky2007,
  _author = {Stephen Balakirsky and others},
  author = {Stephen Balakirsky and Stefano Carpin and Alexander Kleiner and Michael
	Lewis and Arnoud Visser and Jijun Wang and Vittorio Amos Ziparo},
  title = {Towards heterogeneous robot teams for disaster mitigation: Results
	and {P}erformance {M}etrics from {RoboCup} {R}escue},
  journal = {Journal of Field Robotics},
 volume = 24,
  number = {11-12},
  pages = {943-967},
  day = 12,
  month = {November},
  year = {2007},
  doi = {10.1002/rob.20212},
  _url = {http://www3.interscience.wiley.com/cgi-bin/fulltext/116841419/PDFSTART}
,
}


@INPROCEEDINGS{Balakirsky2006,
  author = {S. Balakirsky and C. Scrapper and S. Carpin and M. Lewis},
  title = {USARSim: providing a framework for multi-robot performance evaluation},
  booktitle = {Proc. of {P}er{MIS} 2006},
  pages = {98-103},
  day = {21-23},
  month = {August},
  year = {2006},
  url = {http://www.isd.mel.nist.gov/PerMIS_2006/proceedings/PerMIS_Program.pdf},
  date-added = {2006-11-08 22:03:11 +0100},
  date-modified = {2006-11-08 22:04:06 +0100}
}

@InProceedings{Balaguer2009permis,
        author = {Benjamin Balaguer and Stefano Carpin and Stephen Balakirsky and Arnoud Visser},
        title = {Evaluation of RoboCup Maps},
        booktitle = {Proceedings of the 9th Performance Metrics for Intelligent Systems (PERMIS'09) workshop},
        location = {Gaithersburg, MD, USA},
        month = {September},
        year = 2009,
        url = {http://www.science.uva.nl/~arnoud/publications/BalaguerPERMIS2009.pdf},
}

@ARTICLE{Balaguer2009ras,
  author = {Benjamin Balaguer and Stephen Balakirsky and Stefano Carpin and Arnoud Visser},
  title = {Evaluating maps produced by urban search and rescue robots: lessons learned from RoboCup},
  journal = {Autonomous Robots},
  volume = 27,
  number = 4,
  pages = {449-464},
  month = {November},
  year = 2009,
  url = {http://www.springerlink.com/openurl.asp?genre=article&id=doi:10.1007/s10514-009-9141-z},
}

@InProceedings{Balakirsky2009permis,
        author = {Stephen Balakirsky and Stefano Carpin and Arnoud Visser},
        title = {Evaluation of The RoboCup 2009 Virtual Robot Rescue Competition},
        booktitle = {Proceedings of the 9th Performance Metrics for Intelligent Systems (PERMIS'09) worksh
op},    
        location = {Gaithersburg, MD, USA},        month = {September},
        year = 2009,
        url = {http://www.science.uva.nl/~arnoud/publications/balakirskyPermis09.pdf},
}   

@INPROCEEDINGS{Beevers2006,
  author = {Kristopher R. Beevers and Wesley H. Huang},
  title = {{SLAM} with sparse sensing},
  booktitle = {"IEEE International Conference on Robotics and Automation"},
  year = {2006},
  pages = {2285--2290}
}

@BOOK{Bertsekas2001,
  title = {Dynamic Programming and Optimal Control},
  publisher = {Athena Scientific},
  year = {2001},
  author = {Bertsekas, D. P.},
  edition = {2nd, Vols. I and II},
  date-added = {2006-11-30 21:31:18 +0100},
  date-modified = {2006-11-30 21:31:26 +0100}
}

@ARTICLE{Besl1992,
  author = {Besl, Paul J. and Mckay, Neil D.},
  title = {A Method for Registration of 3-{D} Shapes},
  journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
  year = {1992},
  volume = {14},
  pages = {239--256},
  number = {2},
  month = {February},
  address = {Washington, DC, USA},
  doi = {10.1109/34.121791},
  issn = {0162-8828},
  keywords = {icp registration},
  publisher = {IEEE Computer Society},
  url = {http://dx.doi.org/10.1109/34.121791}
}

@INPROCEEDINGS{Biber2003,
  author = {Peter Biber and Wolfgang Stra{\ss}er},
  title = {The Normal Distributions Transform: A New Approach to Laser Scan
	Matching},
  booktitle = {IEEE/RJS International Conference on Intelligent Robots and Systems},
  year = {2003},
  abstract = {Matching 2D range scans is a basic component of many localization
	and mapping algorithms. Most scan match algorithms require finding
	correspondences between the used features, i.e. points or lines.
	We propose an alternative representation for a range scan, the Normal
	Distributions Transform. Similar to an occupancy grid, we subdivide
	the 2D plane into cells. To each cell, we assign a normal distribution,
	which locally models the probability of measuring a point. The result
	of the transform is a ...},
  keywords = {ndt}
}

@CONFERENCE{Birk2003,
  author = {Andreas Birk and Holger Kenn and Stefano Carpin and Max Pfingsthorn},
  title = {Toward Autonomous RescueRobots},
  booktitle = {First International Workshop on Synthetic Simulation and Robotics
	to Mitigate Earthquake Disasters},
  year = {2003},
  owner = {Administrator},
  timestamp = {2006.08.31}
}

@INPROCEEDINGS{Bosse2003,
  author = {M. Bosse and P. Newman and J. Leonard and M. Soika and W. Feiten
	and S. Teller},
  title = {An Atlas Framework for Scalable Mapping},
  booktitle = {Proc. of the IEEE International Conference on Robotics and
	Automation (ICRA)},
  year = {2003},
  adddress = {Taipei, Taiwan},
  url = {citeseer.ist.psu.edu/article/bosse03atlas.html}
}

@ARTICLE{Bosse2004,
  author = {M. C. Bosse and P. M. Newman and J. J. Leonard and S. Teller},
  title = {{S}imultaneous {L}ocalization and {M}ap {B}uilding in {L}arge-{S}cale
	{C}yclic {E}nvironments {U}sing the {A}tlas {F}ramework.},
  journal = {The International Journal of Robotics Research},
  year = {2004},
  volume = {23(12)},
  pages = {1113-1139},
  date-modified = {2006-10-29 00:48:51 +0200},
  owner = {Administrator},
  timestamp = {2006.08.31}
}

@ARTICLE{Burgard1999,
  author = {W. Burgard and A.B. Cremers and D. Fox and D. H{\"a}hnel and G. Lakemeyer
	and D. Schulz and W. Steiner and S. Thrun},
  title = {Experiences with an Interactive Museum Tour-Guide Robot},
  journal = {Artificial Intelligence},
  year = {1999},
  volume = {114},
  pages = {3--55},
  number = {1-2}
}

@inproceedings{Calisi06,
   title = "SPQR Real Rescue Team Description Paper",
   author = "D. Calisi and A. Censi and A. Farinelli and L. Iocchi and D. Nardi
and G.D. Tipaldi",
   year = {2006},
   month = "June",
   booktitle = ROBOCUP06,
   address = "Bremen, Germany",
   note = CDNOTE,
}

@INPROCEEDINGS{Carpin2006,
  author = {S. Carpin and M. Lewis and J. Wang and S. Balakirsky and C. Scrapper},
  title = {Bridging the gap between simulation and reality in urban search and
	rescue},
  booktitle = {RoboCup 2006: Robot Soccer World Cup X},
  year = {2006},
  series = {LNAI},
  publisher = {Springer},
  date-added = {2006-11-08 22:00:43 +0100},
  date-modified = {2006-11-08 22:02:16 +0100}
}

@INPROCEEDINGS{Carpin2005,
  author = {S. Carpin and J. Wang and M. Lewis and A. Birk and A. Jacoff},
  title = {High fidelity tools for rescue robotics: Results and perspectives},
  booktitle = {Proc. of the 2005 RoboCup Symposium},
  year = {2005},
  date-added = {2006-11-08 21:58:36 +0100},
  date-modified = {2006-11-08 21:59:50 +0100}
}

@INPROCEEDINGS{Carpin2006permis,
  author = {S. Carpin and T. Stoyanov and Y. Nevatia and M. Lewis and J. Wang},
  title = {Quantitative assessments of USARSim accuracy},
  booktitle = {PERMIS},
  year = {2006},
}

@INPROCEEDINGS{Carpin2007icra,
  author = {S. Carpin and M. Lewis and J. Wang and S. Balakirsky and C. Scrapper},
  title = {{USARSim}: a robot simulator for research and education},
  booktitle = {Proceedings of the 2007 IEEE Conference on Robotics and Automation},
  year = {2007},
  pages = {1400-1405},
}

@BOOK{Castellanos2000,
  title = {Mobile Robot Localization and Map Building: A Multisensor Fusion
	Approach},
  publisher = {Kluwer Academic Publishers, Boston, MA},
  year = {2000},
  author = {J.A. Castellanos and J.D. Tardos},
  owner = {Administrator},
  timestamp = {2006.07.20}
}

@ARTICLE{Choset2001,
  author = {Howie Choset and Keiji Nagatani},
  title = {Topological Simultaneous Localization and Mapping (SLAM): Toward
	Exact Localization Without Explicit Localization},
  journal = {IEEE Transactions on Robotics and Automation},
  year = {2001},
  volume = {17},
  pages = {125-137},
  owner = {Administrator},
  timestamp = {2006.08.14}
}

@BOOK{CoverThomas1991,
  title = {Elements of information theory},
  publisher = {Wiley-Interscience},
  year = {1991},
  author = {Thomas M. Cover and Joy A. Thomas},
  address = {New York, NY, USA},
  isbn = {0-471-06259-6}
}
@INPROCEEDINGS{deHoog2008,
author = "Julian de Hoog and Stephen Cameron and Arnoud Visser",
  title="Robotic {S}earch-and-{R}escue: An integrated approach",
  _editor = "Shamal Faily and Standa Zivny",
  series = "OUCL",
  month = "October",
  number = "RR-08-10",
  pages = "28--29",
  booktitle = {Proc. of the {O}xford {U}niversity {C}omputing {L}aboratory student conference 2008},
  year = 2008,
  howpublished = {http://www.comlab.ox.ac.uk/publications/publication2730-abstra
ct.html},
}

@InProceedings{deHoog2009,
        author = {Julian de Hoog and Stephen Cameron and Arnoud Visser},
        title = {Role-Based Autonomous Multi-Robot Exploration},
        booktitle = {Proceedings of the International Conference on Advanced Cognitive Technologies and Applications (Cognitive 2009)},
        month = {November},
        year = 2009,
        url = {http://www.science.uva.nl/~arnoud/publications/DeHoog2009cognitive.pdf},
} 
@ARTICLE{Dijkstra1959,
  author = {Dijkstra, E.W.},
  title = {A note on two problems in connexion with graphs.},
  journal = {Numerische Matematik},
  year = {1959},
  volume = {1},
  pages = {269-271},
  owner = {Administrator},
  timestamp = {2006.08.19}
}

@INPROCEEDINGS{Diosi2005,
  author = {A. Diosi and L. Kleeman},
  title = {Laser Scan Matching in Polar Coordinates with Application to SLAM},
  booktitle = {Proc. of 2005 IEEE/RSJ International Conference on Intelligent
	Robots and Systems (IROS'05)},
  year = {2005},
  month = {August},
  location = {Edmonton, Canada}
}

@INPROCEEDINGS{Dragone2005,
  author = {Mauro Dragone and Ruadhan O'Donoghue and John J. Leonard and Gregory
	O'Hare and Brian Duffy and Andrew Patrikalakis and Jacques Leederkerken},
  title = {Robot Soccer Anywhere: Achieving Persistent Autonomous Navigation
	and Mapping and Object Vision Tracking in Dynamic Environments},
  booktitle = {Proc. of SPIE Opto Ireland},
  year = {2005},
  address = {Dublin, Ireland},
  month = {April},
  abstract = {The paper describes an ongoing effort to enable autonomous mobile
	robots to play soccer in unstructured, everyday environments. Unlike
	conventional robot soccer competitions that are usually held on
	purpose-built robot soccer 'fields', in our work we seek to develop
	the capability for robots to demonstrate aspects of soccer-playing
	in more diverse environments, such as schools, hospitals, or shopping
	malls, with static obstacles (furniture) and dynamic natural obstacles
	(people). This problem of 'Soccer Anywhere' presents numerous research
	challenges including: (1) Simultaneous Localization and Mapping
	(SLAM) in dynamic, unstructured environments, (2) software control
	architectures for decentralized, distributed control of mobile agents,
	(3) integration of vision-based object tracking with dynamic control,
	and (4) social interaction with human participants. In addition
	to the intrinsic research merit of these topics, we believe that
	this capability would prove useful for outreach activities, in demonstrating
	robotics technology to primary and secondary school students, to
	motivate them to pursue careers in science and engineering.}
}

@INPROCEEDINGS{DurrantWhyte2001,
  author = {H. Durrant-Whyte and S. Majumder and S. Thrun and M. de Battista
	and S. Scheding},
  title = {A Bayesian algorithm for simultaneous localization and map building},
  booktitle = {Proc. of the 10th International Symposium of Robotics Research
	(ISRR01)},
  year = {2001},
  owner = {Administrator},
  timestamp = {2006.07.20}
}

@INPROCEEDINGS{Elfes1987,
  author = {A. Elfes},
  title = {Sonar-based real-world mapping and navigation},
  booktitle = {IEEE Transactions on Robotics and Automation},
  year = {1987},
  pages = {249-465}
}

@INPROCEEDINGS{Ferguson2003,
  author = {D. Ferguson and A. Morris and D. H\"{a}hnel and C. Baker and Z. Omohundro
	and C. Reverte and S. Thayer and W. Whittaker and W. Whittaker and
	W. Burgard and S. Thrun},
  title = {An Autonomous Robotic System for Mapping Abandoned Mines},
  booktitle = {Proc. of Conference on Neural Information Processing Systems
	(NIPS)},
  year = {2003},
  _editor = {S. Thrun and L. Saul and B. Sch\"{o}lkopf},
  publisher = {MIT Press}
}

@ARTICLE{Frese2006,
  author = {U. Frese},
  title = {A Discussion of Simultaneous Localization and Mapping},
  journal = {Autonomous Robots},
  year = {2006},
  volume = {20},
  pages = {25--42},
  number = {1}
}

@BOOK{Gamma1995,
  title = {Design Patterns. Elements of Reusable Object-Oriented Software},
  publisher = {Addison-Wesley},
  year = {1995},
  author = {Gamma, Erich and Helm, Richard and Johnson, Ralph},
  series = {Addison-Wesley Professional Computing Series},
  note = {GAM e 95:1 1.Ex},
  date-added = {2006-11-30 17:02:30 +0100},
  date-modified = {2006-11-30 17:02:38 +0100}
}

@article{grassi2006,
   author=                                      {V. {Grassi Jr.} AND J. {Okamoto Jr.}},
   title =                                      {Development of an omnidirectional vision system},
   journal =                            {Journal of the Brazilian Society of Mechanical Sciences and Engineering},
   ISSN =                                       {1678-5878},
   language =                   {en},
   URL =                                                {\url{http://www.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782006000100007&nrm=iso}},
   volume =                             {28},
   year =                                       {2006},
   pages =                                      {58--68},
   publisher =                  {scielo}
}

@ARTICLE{Grisetti2006,
  author = {Grisetti, G. and Stachniss, C. and Burgard, W},
  title = {Improved Techniques for Grid Mapping with Rao-Blackwellized Particle
	Filters},
  journal = {IEEE Transactions on Robotics},
  year = {2006},
  volume = {32},
  pages = {16--25},
  pdfurl = {http://www.informatik.uni-freiburg.de/~grisetti/pdf/grisetti06tro.pdf}
}

@INPROCEEDINGS{Grisetti2005,
  author = {Giorgio Grisetti and Cyrill Stachniss and Wolfram Burgard},
  title = {Improving Grid-based SLAM with Rao-Blackwellized Particle Filters
	by Adaptive Proposals and Selective Resampling},
  booktitle = {Proc. of the {IEEE} International Conference on Robotics and
	Automation},
  year = {2005}
}

@INPROCEEDINGS{Grisetti2007,
  author = {Grisetti, G. and Stachniss, C. and Grzonka, S. and Burgard, W.},
  title = {A Tree Parameterization for Efficiently Computing Maximum Likelihood
	Maps using Gradient Descent},
  booktitle = {Robotics: Science and Systems},
  year = {2007},
  address = {Atlanta, GA, USA},
  note = {To appear},
  pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti07rss.pdf}
}

@INPROCEEDINGS{Gutmann2000,
  author = {J. Gutmann and K. Konolige},
  title = {Incremental mapping of large cyclic environments},
  booktitle = {Proc. of the {IEEE} International Symposium on Computational
	Intelligence in Robotics and Automation ({CIRA})},
  year = {1999},
  pages = {318--325},
  address = {Monterey, California},
  text = {J.-S. Gutmann and K. Konolige. Incremental mapping of large cyclic
	environments. In Proceedings of the IEEE International Symposium
	on Computational Intelligence in Robotics and Automation (CIRA),
	1999.}
}

@INPROCEEDINGS{Haehnel2003,
  author = {H\"{a}hnel, D. and Fox, D. and Burgard, W. and Thrun, S.},
  title = {A Highly Efficient FastSLAM Algorithm for Generating Cyclic Maps
	of Large-Scale Environments from Raw Laser Range Measurements},
  booktitle = {Proc. of the Conference on Intelligent Robots and Systems (IROS)},
  year = {2003}
}

@INPROCEEDINGS{Haehnel2002,
  author = {H\"{a}hnel, D. and Schulz, D. and Burgard, W.},
  title = {Map building with mobile robots in populated environments.},
  booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent
	Robots and Systems (IROS)},
  year = {2002}
}

@article{Hart1968,
	abstract = {Although the problem of determining the minimum cost path through a graph arises naturally in a number of interesting applications, there has been no underlying theory to guide the development of efficient search procedures. Moreover, there is no adequate conceptual framework within which the various ad hoc search strategies proposed to date can be compared. This paper describes how heuristic information from the problem domain can be incorporated into a formal mathematical theory of graph searching and demonstrates an optimality property of a class of search strategies.},
	author = {Hart, P. E.  and Nilsson, N. J.  and Raphael, B. },
	citeulike-article-id = {3116039},
	doi = {http://dx.doi.org/10.1109/TSSC.1968.300136},
	journal = {IEEE Transactions on Systems Science and Cybernetics},
	keywords = {aalgorithm, graphalgorithms, shortestpath},
	number = {2},
	pages = {100--107},
	posted-at = {2008-08-13 19:42:42},
	priority = {2},
	title = {A Formal Basis for the Heuristic Determination of Minimum Cost Paths},
	url = {http://dx.doi.org/10.1109/TSSC.1968.300136},
	volume = {4},
	year = {1968}
}

@ARTICLE{Howard2006sdr,
  author = {Andrew Howard and Lynne E. Parker and Gaurav S. Sukhatme},
  title = {Experiments with Large Heterogeneous Mobile Robot Team: Exploration,
	Mapping, Deployment and Detection},
  journal = {International Journal of Robotics Research},
  year = {2006},
  volume = {25},
  pages = {431--447},
  number = {5},
  month = {May}
}

@inproceedings{Howard2003,
  title = {Integrating {T}errain {M}aps into a {R}eactive {N}avigation {S}trategy},
  author = {Ayanna Howard and Barry Werger and Homayoun Seraji},
  booktitle = {Proceedings IEEE International Conference on Robotics and Automation, (ICRA '03)},
  volume = 2, 
  date = {14-19},
  month = {September},
  year = 2003,
  pages = {2012 - 2017},
  _url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1241889&isnumber=27834},
}

@ARTICLE{Howard2006,
  author = {Andrew Howard and Gaurav S. Sukhatme and Maja J. Matari\'{c}},
  title = {Multi-Robot Mapping using Manifold Representations},
  journal = {Proceedings of the IEEE},
  year = {2006},
  volume = 94, 
  number = 7,
  Month = {July},
  Pages = {1360--1369},
  my_note = {Special Issue on Multi-robot Systems},
}

@ARTICLE{Kalman1960,
  author = {R. E. Kalman},
  title = {A new approach to linear filtering and prediction problems},
  journal = {Trans. ASME, Journal of Basic Engineering},
  year = {1960},
  volume = {82},
  pages = {35-45},
  owner = {Administrator},
  timestamp = {2006.07.20}
}

@ARTICLE{Kitano2001,
  author = {Hiroaki Kitano and Satoshi Tadokoro},
  title = {RoboCup Rescue: A Grand Challenge for Multiagent and Intelligent
	Systems.},
  journal = {AI Magazine},
  year = {2001},
  volume = {22},
  pages = {39-52},
  number = {1}
}

@INPROCEEDINGS{Kleiner2006,
  author = {A. Kleiner and J. Prediger and B. Nebel},
  title = {RFID Technology-based Exploration and SLAM for Search And Rescue},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent
	Robots and Systems},
  year = {2006 (to appear)}
}

@article{Kollar2008,
author = {Thomas Kollar and Nicholas Roy},
title = {{Trajectory Optimization using Reinforcement Learning for Map Exploration}},
journal = {The International Journal of Robotics Research},
volume = {27},
number = {2},
pages = {175-196},
_doi = {10.1177/0278364907087426},
year = {2008},
abstract = {Automatically building maps from sensor data is a necessary and fundamental skill for mobile robots; as a result, considerable research attention has focused on the technical challenges inherent in the mapping problem. While statistical inference techniques have led to computationally efficient mapping algorithms, the next major challenge in robotic mapping is to automate the data collection process. In this paper, we address the problem of how a robot should plan to explore an unknown environment and collect data in order to maximize the accuracy of the resulting map. We formulate exploration as a constrained optimization problem and use reinforcement learning to find trajectories that lead to accurate maps. We demonstrate this process in simulation and show that the learned policy not only results in improved map building, but that the learned policy also transfers successfully to a real robot exploring on MIT campus.},
URL = {http://ijr.sagepub.com/cgi/content/abstract/27/2/175},
eprint = {http://ijr.sagepub.com/cgi/reprint/27/2/175.pdf}
}

@INPROCEEDINGS{Konolige2004,
  author = {Konolige, K. and Fox, D. and Ortiz, C. and Agno, A. and Eriksen,
	M. and Limketkai, B. and Ko, J. and Morisset, B. and Schulz, D.
	and Stewart, B. and Vincent, R.},
  title = {Centibots: Very large scale distributed robotic teams},
  booktitle = {International Symposium on Experimental Robotics (ISER-04)},
  year = {2004},
  abstract = {We describe the development of Centibots, a framework for very large
	teams of robots that are able to perceive, explore, plan and collaborate
	in unknown environments. The Centibots team currently consist of
	approximately 100 robots. The Centibots team can be deployed in
	unexplored areas, and can efficiently distribute tasks among themselves;
	the system also makes use of a mixed initiative mode of interaction
	in which a user can influence missions as necessary. In contrast
	to simulation-based systems which abstract away aspects of the environment
	for the purposes of exploring component technologies, the Centibots
	design reflects an integrated end-to-end system.}
}

@ARTICLE{Lisien2005,
  author = {Lisien, B. and Morales, D. and Silver, D. and Kantor, G. and Rekleitis,
	I. and Choset, H.},
  title = {The Hierarchical Atlas},
  journal = {IEEE Transactions on Robotics and Automation},
  year = {2005},
  volume = {21},
  pages = {473-481},
  owner = {Administrator},
  timestamp = {2006.08.14}
}

@ARTICLE{Lu1997-Mapping,
  author = {F. Lu and E. Milios},
  title = {Globally {C}onsistent {R}ange {S}can {A}lignment for {E}nvironment
	{M}apping},
  journal = {Autonomous Robots},
  year = {1997},
  volume = {4},
  pages = {333-349},
  date-modified = {2007-02-24 22:53:38 +0100},
  owner = {Administrator},
  timestamp = {2006.07.20}
}

@ARTICLE{Lu1997-SM,
  author = {Feng Lu and Evangelos Milios},
  title = {{R}obot {P}ose {E}stimation in {U}nknown {E}nvironments by {M}atching
	{2D} {R}ange {S}cans},
  journal = {Journal of Intelligent and Robotic Systems},
  year = {1997},
  volume = {18},
  pages = {249-275},
  date-modified = {2007-02-24 22:57:19 +0100}
}

@misc{Maillette2008doas,
author = {Gideon {Maillette de Buy Wenniger} and Tijn Schmits},
title = {Identifying {F}ree {S}pace in a {R}obot {B}ird-{E}ye {V}iew},
school = {Universiteit van Amsterdam},
howpublished = {Report, Universiteit van Amsterdam},
month = {November},
day = 6,
year = 2008,
_url={http://www.science.uva.nl/~arnoud/education/DOAS/2008/FreeSpaceBEView.pdf}
}

@INPROCEEDINGS{Maillette2009,
  author = {Gideon Emile {Maillette de Buy Wenniger} and Tijn Schmits and Arnoud Visser},
  title = {Identifying Free Space in a Robot Bird-Eye View},
  booktitle = {Proceedings of the 4th European Conference on Mobile Robots (ECMR 2009)},
  location = {Mlini/Dubrovnik, Croatia},
  month = {September},
  year = 2009,
  url = {http://www.science.uva.nl/~arnoud/publications/DeBuyWennigerSchmitsVisser_FreeSpaceBEView-ECMR.pdf},
}

@INPROCEEDINGS{Maimone2004,
  author = {M. Maimone and A. Johnson and Y. Cheng and R. Willson and L. Matthies},
  title = {Autonomous Navigation Results from the Mars Exploration Rover (MER)
	Mission},
  booktitle = {9th International Symposium on Experimental Robotics (ISER)},
  year = {June 2004},
  owner = {Administrator},
  timestamp = {2006.08.31}
}

@ARTICLE{Minguez2006,
  author = {Minguez, J. and Montesano, L. and Lamiraux, F.},
  title = {Metric-Based Iterative Closest Point Scan Matching for Sensor Displacement
	Estimation},
  journal = {IEEE Transactions on Robotics},
  year = {2006},
  volume = {22},
  pages = {1047-1054},
  number = {5},
  month = {October},
  keywords = {icp registration},
  publisher = {IEEE Computer Society},
  rating = {3},
  read = {Yes},
  url = {http://webdiis.unizar.es/~jminguez/MbICP_TRO.pdf}
}

@INPROCEEDINGS{Moore1959,
  AUTHOR = {Edward F. Moore},
  TITLE = {The shortest path through a maze},
  BOOKTITLE = {Proc. of the International Symposium on the Theory of Switching},
  YEAR = {1959},
  PUBLISHER = {Harvard University Press},
  PAGES = {285--292}
}

@INPROCEEDINGS{Montemerlo2003b,
  author = {Montemerlo, M. and Roy, N. and Thrun, S.},
  title = {Perspectives on Standardization in Mobile Robot Programming: The
	Carnegie Mellon Navigation ({CARMEN}) Toolkit},
  booktitle = {Proceedings of the Conference on Intelligent Robots and Systems (IROS)},
  year = {2003}
}

@INPROCEEDINGS{Montemerlo2003c,
  author = {M. Montemerlo and S. Thrun},
  title = {Simultaneous localization and mapping with unknown data association
	using {F}ast{SLAM}},
  booktitle = {Proceedings of the {IEEE} International Conference on Robotics and
	Automation},
  year = {2003},
  volume = {2},
  pages = {1985-1991},
  month = {September},
  organization = {IEEE},
  date-added = {2006-11-08 22:14:23 +0100},
  date-modified = {2006-11-08 22:16:48 +0100}
}

@BOOK{Montemerlo2007,
  author = {Micheal Montemerlo and Sebastian Thrun},
  title = {FastSLAM A Scalable Method for the Simultaneous Localization and Mapping Problem in Robotics},
  series = {Springer Tracts in Advanced Robotics},
  Volume = 27,
  year = 2007,
  _ISBN = {978-3-540-46399-3},
}

@INPROCEEDINGS{Lenser2000,
  author = {S. Lenser and M. Veloso},
  title = {Sensor resetting localization for poorly modelled mobile robots},
  booktitle = {Proceedings of the IEEE International Conference on Robots and Automation (ICRA)},
  year = 2000,
  pages= {1225 - 1232},
}

@INPROCEEDINGS{Montemerlo2003a,
  author = {Michael Montemerlo and Sebastian Thrun and Daphen Koller and Ben Wegbreit},
  title = {FastSLAM 2.0: An Improved Particle Filtering Algorithm for Simultaneous
	Localization and Mapping that Provably Converges},
  booktitle = {Proceedings of the Sixteenth International Joint Conference on Artificial
	Intelligence (IJCAI)},
  year = {2003},
  address = {Acapulco, Mexico},
  organization = {IJCAI}
}

@INPROCEEDINGS{Montemerlo2002,
  author = {Montemerlo, M. and Thrun, S. and Koller, D. and Wegbreit, B.},
  title = {FastSLAM: {A} Factored Solution to the Simultaneous Localization
	and Mapping Problem},
  booktitle = {Proceedings of the AAAI National Conference on Artificial Intelligence},
  year = {2002},
  address = {Edmonton, Canada},
  publisher = {AAAI}
}

@ARTICLE{Moravec1988,
  author = {Hans Moravec},
  title = {Sensor fusion in certainty grids for mobile robots},
  journal = {AI Magazine},
  year = {1988},
  volume = {9},
  pages = {61-74},
  publisher = {American Association for Artificial Intelligence}
}

@INPROCEEDINGS{Nayar1998,
	author = {Shree K. Nayar},
	title = {Omnidirectional Vision},
	booktitle = {Proc. of Eighth International Symposium on Robotics Research ISRR'97},
	_editor = {Y. Shirai and S. Hirose},
	year = {1998},
	symposium_location = {October 1997, Hayama, Japan},
	Publisher = {Springer-Verlag},
	my_note = {workshop paper without pagenumbers},
	_url =	 {\url{http://citeseer.ist.psu.edu/article/nayar97omnidirectional.html}, accessed: July 13 2007},
}
@INPROCEEDINGS{Nguyen2009iros,
        author = {Quang Nguyen and Arnoud Visser},
        title = {"A Color Based Rangefinder for an Omnidirectional Camera"},
        booktitle = {Proceedings of the International Conference on Intelligent Robots and Systems (IROS 2009), Workshop on Robots, Games, and Research: Success stories in USARSim},
        editor = {Stephen Balakirsky and Stefano Carpin and Mike Lewis},
        year = {2009},
        isbn = {978-1-4244-3804-4},
        publisher = {{IEEE}},
        url = {http://www.science.uva.nl/~arnoud/publications/NguyenOmniCamRangeFinder.pdf},
        pages = {41-48},
        bookurl = {http://www.science.uva.nl/~arnoud/publications/ThT1.pdf}
        }


@INPROCEEDINGS{Nieto2003,
  author = {J. Nieto and J. Guivant and E. Nebot and S. Thrun},
  title = {Real time data association for fastslam},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and
	Automation},
  year = {2003},
  text = {J. Nieto, J. Guivant, E. Nebot, and S. Thrun, Real time data association
	for fastslam, Accepted for ICRA 2003.}
}

@INPROCEEDINGS{Olson2007,
  author = {E. Olson and J. Leonard and S. Teller},
  title = {Spatially-Adaptive Learning Rates for Online Incremental SLAM},
  booktitle = {Proceedings of Robotics: Science and Systems},
  year = {2007},
  address = {Atlanta, GA, USA},
  month = {June}
}

@INPROCEEDINGS{Olson2006,
  author = {Edwin Olson and John Leonard and Seth Teller},
  title = {Fast {I}terative {O}ptimization of {P}ose {G}raphs with {P}oor {I}nitial
	{E}stimates},
  booktitle = {Proceedings of the {IEEE} International Conference on Robotics and
	Automation},
  year = {2006},
  pages = {2262-2269},
  date-added = {2006-11-08 22:19:42 +0100},
  date-modified = {2007-02-24 23:13:54 +0100},
  institution = {MIT CSAIL}
}

@INProceedings{Pfingsthorn2008lnai,
  author = {Max Pfingsthorn and Bayu A. Slamet and Arnoud Visser},
  title = {A {S}calable {H}ybrid {M}ulti-{R}obot {SLAM} Method for {H}ighly {D}etailed {M}aps},
  booktitle = {RoboCup 2007: Robot Soccer World Cup XI},
  _editor = {U. Visser and F. Ribeiro and T. Ohashi and F. Dellaert},
  series = {Lecture Notes on Artificial Intelligence},
  volume = 5001,
  year = {2008},
  month = {July},
  publisher = {Springer-Verlag},
  adress = {Berlin Heidelberg New York},
  pages = {457-464},
  _url = {http://www.science.uva.nl/~arnoud/publications/slam_method.pdf}
}

@INPROCEEDINGS{Pfingsthorn2007,
  author = {Max Pfingsthorn and Bayu A. Slamet and Arnoud Visser},
  title = {A {S}calable {H}ybrid {M}ulti-{R}obot {SLAM} Method for {H}ighly {D}etailed {M}aps},
  booktitle = {Proceedings of the 11th RoboCup International Symposium},
  year = {2007},
  month = {July},
  location = {Atlanta, USA},
  mynote = {Proceedings CD. To be published in the Lecture Notes on Artificial
	Intelligence series.},
  url = {http://www.science.uva.nl/~arnoud/publications/slam_method.pdf}
}

@misc{Ethembabaoglu2007,
author = {Aksel Ethembabaoglu},
title = {Active target tracking using a mobile robot in the {USARSim}},
school = {Universiteit van Amsterdam},
howpublished = {Bachelor's thesis, Universiteit van Amsterdam},
month = {June},
year = 2007,
_url={http://staff.science.uva.nl/~arnoud/education/ActiveTargetTracking.pdf}
}

@misc{Roebert2008,
author = {Steven Roebert},
title = {Creating a bird-eye view map using an omnidirectional camera},
school = {Universiteit van Amsterdam},
howpublished = {Bachelor's thesis, Universiteit van Amsterdam},
month = {June},
year = 2008,
_url={http://staff.science.uva.nl/~bredeweg/pdf/BSc/20072008/Roebert.pdf}
}

@INPROCEEDINGS{Roebert2008bnaic,
        author = {Steven Roebert and Tijn Schmits and Arnoud Visser},
        title = {{C}reating a {B}ird-{E}ye {V}iew {M}ap using an {O}mnidirectional {C}amera},
        booktitle = {Proceedings of the 20th Belgian-Netherlands Conference on Artificial Intelligence (BNAIC 2008)},
        location = {Enschede, the Netherlands},
        month = "October",
        day = "30-31",
        year = 2008,
        _url = {http://www.science.uva.nl/~arnoud/publications/Roebert_BirdEyeViewMap.pdf},
        }




@InProceedings{Schmits2008robocup,
author = {Tijn Schmits and Arnoud Visser},
title = {An {O}mnidirectional {C}amera {S}imulation for the {USARSim} {W}orld},
booktitle = {Proceedings of the 12th RoboCup International Symposium},
month = {July},
year = 2008,
location = {Suzhou, China},
note = {Proceedings CD. To be published in the Lecture Notes on Artificial Intelligence series},
}

@MASTERSTHESIS{Schmits2008,
  author = {Tijn Schmits},
  title = {{D}evelopment of a {C}atadioptric {O}mnidirectional {C}amera for the {USARSim} {E}nvironment},
  school = {Universiteit van Amsterdam},
  year = {2008},
  month = {June},
}

@InProceedings{Schmits2009,
author = {Tijn Schmits and Arnoud Visser},
title = {An {O}mnidirectional {C}amera {S}imulation for the {USARSim} {W}orld},
booktitle = {RoboCup 2008: Robot Soccer World Cup XII},
editor = {L. Iocchi and H. Matsubara and A. Weitzenfeld and C. Zhou},
month = {June},
year = 2009,
pages = {296-307},
series = {Lecture Notes in Artificial Intelligence},
volume = {5339},
publisher = {Springer},
address = {Berlin Heidelberg New York},
_location = {Suzhou, China},
_note = {Proceedings CD. To be published in the Lecture Notes on Artificial Intelligence series},
}

@InProceedings{Visser2007smred,
_author = {Arnoud Visser and others},
author = {Arnoud Visser and Bayu Slamet and Tijn Schmits and Luis A. {Gonz{\'a}lez Jaime} and Aksel Ethembabaoglu},
title = "Design decisions of the {UvA Rescue 2007} {T}eam on the {C}hallenges of the {V}irtual {R}obot competition",
booktitle = {Proc. 4th International Workshop on Synthetic Simulation and Robotics to Mitigate Earthquake
Disaster},
month = "July",
year = 2007,
location = "Atlanta, USA",
pages = {20--26}, 
_url = {http://www.science.uva.nl/~arnoud/publications/UvArescueDesignDecisions.pdf},
}

@InProceedings{Visser2009srmed,
        author = {Arnoud Visser and Bayu A. Slamet and Max Pfingsthorn},
        title = "Robust Weighted Scan Matching with Quadtrees",        booktitle = {Proc. of the 5th International Workshop on Synthetic Simulation and Robotics to Mitigate Earthquake Disaster (SRMED 2009)},
        month = "July",        year = 2009,
        location = "Graz, Austria",
        url = {http://www.science.uva.nl/~arnoud/publications/RobustWSM.pdf},
}


 @InProceedings{Visser08lnai,
        author = {Arnoud Visser and Xingrui-Ji and Merlijn van Ittersum and Luis A. {Gonz{\'a}lez Jaime} and Laurentiu A. Stancu},
        _author = {Authors},
        title = "Beyond frontier exploration",
        _title = {Title},
        booktitle = {RoboCup 2007: Robot Soccer World Cup XI},
        the_editor = {U. Visser and F. Ribeiro and T. Ohashi and F. Dellaert},
        month = "July",
        year = 2008,
        pages = {113-123},
        publisher = "Springer-Verlag",
        _address   = "Berlin Heidelberg",
        series = "Lecture Notes in Artificial Intelligence",
        volume = 5001,
        _url = {http://www.science.uva.nl/~arnoud/publications/BeyondFrontiers.pdf},
        _note = {Details removed for blind review},
        }

 @InProceedings{Visser08lnai',
        author = {Arnoud Visser and Xingrui-Ji and Merlijn van Ittersum and Luis A. {Gonz{\'a}lez Jaime} and Laurentiu A. Stancu},
        title = "Beyond frontier exploration",
        booktitle = {RoboCup 2007: Robot Soccer World Cup XI},
        the_editor = {U. Visser and F. Ribeiro and T. Ohashi and F. Dellaert},
        month = "July",
        year = 2008,
        pages = {113-123},
        publisher = "Springer-Verlag",
        _address   = "Berlin Heidelberg",
        series = "Lecture Notes in Artificial Intelligence",
        volume = 5001,
        _url = {http://www.science.uva.nl/~arnoud/publications/BeyondFrontiers.pdf},
        }

@INPROCEEDINGS{Visser2007robocup,
  author = {Arnoud Visser and others},
  _author = {Arnoud Visser and Xingrui-Ji and Merlijn van Ittersum and Luis A. {Gonz{\'a}lez Jaime}},
  title = {Beyond frontier exploration},
  booktitle = {Proceedings of the 11th RoboCup International Symposium},
  year = {2007},
  month = {July},
  location = {Atlanta, USA},
  mynote = {Proceedings CD. To be published in the Lecture Notes on Artificial
	Intelligence series.},
  url = {http://www.science.uva.nl/~arnoud/publications/BeyondFrontiers.pdf}
}

@InProceedings{Visser2008wmcnr,
author = {Arnoud Visser and Bayu A. Slamet},
title = {Including communication success in the estimation of information gain for multi-robot exploration},
booktitle = {6th International Symposium on Modeling and Optimization in Mobile, Ad Hoc, and Wireless Networks and Workshops (WiOPT 2008)},
publisher = {IEEE Publishing},
month = {April},
year = 2008,
pages = {680-687},
doi = {10.1109/WIOPT.2008.4586160},
url = {http://www.science.uva.nl/~arnoud/publications/wmcnr2008.pdf},
opac = {http://ieeexplore.ieee.org/xpl/RecentCon.jsp?punumber=4568415},
}

@InProceedings{Visser2008euros,
author = {Arnoud Visser and Bayu A. Slamet},
title = {Balancing the {I}nformation {G}ain {A}gainst the {M}ovement {C}ost for {M}ulti-robot {F}rontier {E}xploration},
 booktitle = {European Robotics Symposium 2008},
_ISBN = {978-3-540-78315-2},
_editor = {Herman Bruyninckx and Libor P\v{r}eu\v{c}il and
Miroslav Kulich},
serie_editor = {Bruno Siciliano and Oussama Khatib and Frans Groen},
series = {Springer Tracts in Advanced Robotics},
_volume = 44,
publisher = {Springer-Verlag},
_address = {Berlin / Heidelberg},
pages = {43--52},
Month = {February},
Year =  2008,
abstract = {This article investigates the scenario where a small team of robots
needs to explore a hypothetical disaster site. The challenge
 faced by the robot-team is to coordinate their actions such that they efficient
ly explore the environment in their search
 for victims.

 A popular paradigm for the exploration problem is based on the notion of fronti
ers: the boundaries of the current map from
 where robots can enter yet unexplored area. Coordinating multiple robots is the
n about intelligently assigning frontiers to
 robots. Typically, the assignment of a particular frontier to a particular robo
t is governed by a cost measure, e.g. the movement
 costs for the robot to reach the frontier. In more recent approaches these cost
s are traded off with the potential gain in
 information if the frontier would be explored by the robot.

 In this paper we will further investigate the effect of balancing movement cost
s with information gains while assigning frontiers
 to robots. In our experiments we will illustrate how various choices for this b
alance can have a significant impact on the
 exploratory behavior exposed by the robot team.
 }
}

@INPROCEEDINGS{Visser2008siren,
        author = {Arnoud Visser and Julian de Hoog},
          title = {{A}msterdam {O}xford {J}oint {R}escue {F}orces - {R}ealistic {S}imulations to aid research and education in advanced {R}obot {C}ontrol algorithms},
          year = {2008},
          month = "September",
          pdfurl = {http://www.science.uva.nl/~arnoud/research/roboresc/AOJFRresearchPortfolioSiren2008.pdf},
        pages = 22,
        booktitle = "Proc. of the Scientific ICT Research Event Netherlands (SIREN 2008)",
        location = "Amsterdam, The Netherlands",
        abstract = "A white paper with the shared research portfolio of advanced Robot Control algorithms at the laboratories in Amsterdam and Oxford.",
        }



@INPROCEEDINGS{Pfister2002,
  _author = {Samuel T. Pfister and others},
  author = {Samuel T. Pfister and Kristo L. Kriechbaum and Stergios I. Roumeliotis and Joel W. Burdick},
  title = {Weighted line fitting algorithms for mobile robot map building and efficient data representation},
  inbook = {Proc. of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2003},
  pages = {1667-1674},
}



@ARTICLE{Pfister2007,
  author = {Samuel T. Pfister and others},
  _author = {Samuel T. Pfister and Kristo L. Kriechbaum and Stergios I. Roumeliotis
	and Joel W. Burdick},
  title = {A {W}eighted {R}ange {S}ensor {M}atching {A}lgorithm for {M}obile {R}obot {D}isplacement
	{E}stimation},
  journal = {IEEE Transactions on Robotics},
  year = {2008},
  note = {(in revision)}
}

@ARTICLE{Pollack2002,
  author = {M. E. Pollack and S. Engberg and J. T. Matthews and S. Thrun and
	L. Brown and D. Colbry and C. Orosz and B. Peintner and S. Ramakrishnan
	and J. Dunbar-Jacob and C. McCarthy and M. Montemerlo and J. Pineau
	and N. Roy},
  title = {Pearl: A Mobile Robotic Assistant for the Elderly},
  journal = {AAAI Workshop on Automation as Eldercare},
  year = {2002},
  owner = {Administrator},
  timestamp = {2006.07.20}
}

@MISC{Radish,
  author = {Radish},
  title = {The Robotics Data Set Repository},
  year = {-},
  url = {http://radish.sourceforge.net}
}

@INPROCEEDINGS{Roy1999,
  author = {Nicholas Roy and Sebastian Thrun},
  title = {Coastal Navigation with Mobile Robots},
  booktitle = {Advances in Neural Processing Systems 12},
  year = {1999},
  volume = {12},
  pages = {1043-1049}
}

@INPROCEEDINGS{Rusinkiewicz2001,
  author = {Szymon Rusinkiewicz and Marc Levoy},
  title = {Efficient Variants of the {ICP} Algorithm},
  booktitle = {Third International Conference on 3D Digital Imaging and Modeling
	(3DIM)},
  year = {2001},
  month = jun,
  pages = {145-153},
  doi = {http://doi.ieeecomputersociety.org/10.1109/IM.2001.924423},
  _publisher = {IEEE Computer Society},
  _address = {Los Alamitos, CA, USA},

}

@ARTICLE{Williams2001,
  author = {S.Williams and G. Dissanayake and H.F. Durrant-Whyte},
  title = {Towards terrain-aided navigation for underwater robotics},
  journal = {Advanced Robotics},
  year = {2001},
  volume = {15(5)},
  owner = {Administrator},
  timestamp = {2006.07.20}
}

@INCOLLECTION{Samet1995,
  author = {Hanan Samet},
  title = {Spatial Data Structures},
  booktitle = {Modern Database Systems: The Object Model, Interoperability, and
	Beyond.},
  year = {1995},
  pages = {361-385},
  url = {citeseer.ist.psu.edu/article/samet95spatial.html}
}

@ARTICLE{Samet1984,
  author = {Hanan Samet},
  title = {The Quadtree and Related Hierarchical Data Structures},
  journal = {ACM Comput. Surv.},
  year = {1984},
  volume = {16},
  pages = {187--260},
  number = {2},
  address = {New York, NY, USA},
  doi = {http://doi.acm.org/10.1145/356924.356930},
  issn = {0360-0300},
  publisher = {ACM Press}
}

@MASTERSTHESIS{Slamet2006,
  author = {Bayu A. Slamet and Max Pfingsthorn},
  title = {Manifold{SLAM}: a {M}ulti-{A}gent {S}imultaneous {L}ocalization and
	{M}apping {S}ystem for the {R}obo{C}up {R}escue {V}irtual {R}obots
	{C}ompetition},
  school = {Universiteit van Amsterdam},
  year = {2006},
  month = {December},
  date-modified = {2007-02-25 14:04:59 +0100},
  day = {11}
}

@ARTICLE{Smith1990,
  author = {R. Smith and M. Self and P. Cheeseman},
  title = {Estimating uncertain spatial relationships in robotics},
  editor = {I.J. Cox and G.T. Wilfong},
  journal = {Autonomous Robot Vehicles},
  year = {1990},
  pages = {167-193},
  owner = {Administrator},
  timestamp = {2006.07.20}
}

@ARTICLE{Smith1986,
  author = {R. C. Smith and P. Cheeseman},
  title = {On the representation and estimation of spatial uncertainty},
  journal = {International Journal of Robotics Research},
  year = {1986},
  volume = {5},
  pages = {56-68},
  owner = {Administrator},
  timestamp = {2006.07.20}
}

@ARTICLE{Stachniss2005,
  author = {Stachniss, C. and H\"{a}hnel, D. and Burgard, W. and Grisetti, G.},
  title = {On Actively Closing Loops in Grid-based FastSLAM},
  journal = {Advanced Robotics},
  year = {2005},
  volume = {19},
  pages = {1059--1080},
  number = {10}
}

@BOOK{Sutton1998,
  title = {Reinforcement Learning: An Introduction},
  publisher = {MIT Press},
  year = {1998},
  author = {Sutton, R.S. and Barto, A.G.},
  address = {Cambridge, MA}
}

@INPROCEEDINGS{Thrun2002,
  author = {Thrun, S.},
  title = {Robotic {M}apping: {A} {S}urvey},
  booktitle = {Exploring Artificial Intelligence in the New Millenium},
  year = {2002},
  _editor = {Lakemeyer, G. and Nebel, B.},
  publisher = {Morgan Kaufmann},
  date-modified = {2007-02-25 19:14:33 +0100}
}


@article{DurrantWhyte2006,
  title = {Simultaneous localization and mapping: part {I}},
  journal = {IEEE robotics \& automation magazine},
  issn = {1070-9932},
  author = {H. Durrant-Whyte and T. Bailey},
  year = 2006,
  volume = 13,
  issue = 2,
  page = {99-100},
  _url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1638022&tag=1},
}

@article{Bailey2006,
  title = {Simultaneous localization and mapping ({SLAM}): part {II}},
  journal = {IEEE robotics \& automation magazine},
  issn = {1070-9932},
  author = {T. Bailey and H. Durrant-Whyte},
  year = 2006,
  volume = 13,
  issue = 3,
  page = {108-117},
  _url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1678144},
}

@article{Dissanayake2001,
  author = {M. W. M. G. Dissanayake and P. M. Newman and H. F. Durrant-Whyte and S. Clark and M. Csorba},
  title ={A solution to the simultaneous localization and map building (SLAM) problem}, 
  journal = {IEEE Transactions on Robotic and Automation}, 
  Volume = 17, 
  issue = 3, 
  Pages = {229-241},
  year = 2001,
  _url = {http://www.robots.ox.ac.uk/~pnewman/papers/SLAM_TransRandA.pdf},
}

@inproceedings{Dellaert2005,
  title={A {M}ultifrontal {QR} {F}actorization {A}pproach to {D}istributed {I}nference {A}pplied to {M}ultirobot {L}ocalization and {M}apping},
  author={Frank Dellaert and Alexander Kipp and Peter Krauthausen},
  year = 2005,
  page = {1261--1266},
  booktitle={Proceedings of the AAAI National Conference on Artificial Intelligence},
}

@book{BarShalom2001,
 author = {Y. Bar-Shalom and X. R. Li and T. Kirubarajan}, 
 title = {Estimation with Applications to Tracking and Navigation: Theory, Algorithms, and Software}, 
 publisher = {Wiley}, 
 address = {New York}, 
 year = 2001, 
 _pages = 558, 
 _ISBN = {0-471-41655-X},
}

@inproceedings{Moutarlier1989,
 author = {Moutarlier, Philippe and Chatila, Raja},
 title = {An Experimental System for Incremental Environment Modelling by an Autonomous Mobile Robot},
 booktitle = {The First International Symposium on Experimental Robotics I},
 series = {Lecture Notes in Control and Information Sciences},
 volume = {139},
 year = {1990},
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 _isbn = {3-540-52182-8},
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 _acmid = {661279},
 publisher = {Springer-Verlag},
 address = {London, UK},
} 

@INPROCEEDINGS{Leonard1991,
	author = {J J Leonard and H F Durrant-Whyte},
	title = {Simultaneous map building and localisation for an autonomous mobile robot},
	booktitle = {In IEEE/RSJ International Workshop on Intelligent Robots and Systems},
	year = {1991},
	pages = {1442--1447}
}

@ARTICLE{Thrun2000-Mapping,
  author = {Thrun, S.},
  title = {A Probabilistic Online Mapping Algorithm for Teams of Mobile Robots},
  journal = {International Journal of Robotics Research},
  year = {2001},
  volume = {20},
  pages = {335--363},
  number = {5}
}

@ARTICLE{Thrun1998,
  author = {S. Thrun},
  title = {Learning metric-topological maps for indoor mobile robot navigation},
  journal = {Artificial Intelligence},
  year = {1998},
  volume = {99(1)},
  pages = {21-71},
  owner = {Administrator},
  timestamp = {2006.07.20}
}

@ARTICLE{Thrun2000-Minerva,
  author = {Thrun, S. and Beetz, M. and Bennewitz, M. and Burgard, W. and Cremers,
	A.B. and Dellaert, F. and Fox, D. and H\"{a}hnel, D. and Rosenberg,
	C. and Roy, N. and Schulte, J. and Schulz, D.},
  title = {Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot
	Minerva},
  journal = {International Journal of Robotics Research},
  year = {2000},
  volume = {19},
  pages = {972--999},
  number = {11}
}

@INPROCEEDINGS{Thrun1999,
  author = {Thrun, S. and Bennewitz, M. and Burgard, W. and Cremers, A.B. and
	Dellaert, F. and Fox, D. and H\"{a}hnel, D. and Rosenberg, C. and
	Roy, N. and Schulte, J. and Schulz, D.},
  title = {{MINERVA}: A second generation mobile tour-guide robot},
  booktitle = {Proc. of the IEEE International Conference on Robotics and
	Automation (ICRA)},
  year = {1999}
}

@INPROCEEDINGS{Thrun2000-3D,
  author = {Thrun, S. and Burgard, W. and Fox, D.},
  title = {A Real-Time Algorithm for Mobile Robot Mapping With Applications
	to Multi-Robot and {3D} Mapping},
  booktitle = {Proc. of the IEEE International Conference on Robotics and
	Automation (ICRA)},
  year = {2000},
  address = {San Francisco, CA},
  publisher = {IEEE}
}

@ARTICLE{Thrun2000-MCL,
  author = {Thrun, S. and Fox, D. and Burgard, W. and Dellaert, F.},
  title = {Robust Monte Carlo Localization for Mobile Robots},
  journal = {Artificial Intelligence},
  year = {2000},
  volume = {128},
  pages = {99--141},
  number = {1-2}
}

@INPROCEEDINGS{Thrun2003,
  author = {S. Thrun and Y. Liu},
  title = {Multi-Robot {SLAM} With Sparse Extended Information Filers},
  booktitle = {Proc. of the 11th International Symposium of Robotics Research
	(ISRR'03)},
  year = {2003},
  address = {Sienna, Italy},
  publisher = {Springer}
}
@ARTICLE{Thrun2004-Mines,
  author = {S. Thrun and S. Thayer and W. Whittaker and C. Baker and W. Burgard
	and D. Ferguson and D. H\"{a}hnel and M. Montemerlo and A. Morris
	and Z. Omohundro and C. Reverte and W. Whittaker},
  title = {Autonomous Exploration and Mapping of Abandoned Mines},
  journal = {IEEE Robotics and Automation Magazine},
  year = {2004}
}

@ARTICLE{Thrun2004-SEIF,
  author = {S. Thrun and Y. Liu and D. Koller and A.Y. Ng and Z. Ghahramani and
	H. Durrant-Whyte},
  title = {Simultaneous localization and mapping with sparse extended information filters.},
  journal = {International Journal of Robotics Research},
  year = {2004},
  volume = {23},
  issue = {(7-8)},
  timestamp = {2006.07.19}
}
@BOOK{Thrun2005,
  title = {Probabilistic Robotics (Intelligent Robotics and Autonomous Agents)},
  publisher = {{The MIT Press}},
  year = {2005},
  author = {Thrun, Sebastian and Burgard, Wolfram and Fox, Dieter},
  month = {September},
  abstract = {{Probabilistic robotics is a new and growing area in robotics, concerned
	with perception and control in the face of uncertainty. Building
	on the field of mathematical statistics, probabilistic robotics
	endows robots with a new level of robustness in real-world situations.<br
	/> <br /> This book introduces the reader to a wealth of techniques
	and algorithms in the field. All algorithms are based on a single
	overarching mathematical foundation. Each chapter provides example
	implementations in pseudo code, detailed mathematical derivations,
	discussions from a practitioner's perspective, and extensive lists
	of exercises and class projects. The book's Web site, http://www.probabilistic-robotics.org,
	has additional material.<br /> <br /> The book is relevant for anyone
	involved in robotic software development and scientific research.
	It will also be of interest to applied statisticians and engineers
	dealing with real-world sensor data.}},
  citeulike-article-id = {560702},
  howpublished = {Hardcover},
  _isbn = {0-262-20162-3},
  keywords = {slam},
  priority = {2}
}

@ARTICLE{Thrun2006-GraphSLAM,
  author = {Sebastian Thrun and Michael Montemerlo},
  title = {The Graph SLAM Algorithm with Applications to Large-Scale Mapping
	of Urban Structures},
  journal = {Int. J. Rob. Res.},
  year = {2006},
  volume = {25},
  pages = {403--429},
  number = {5-6},
  address = {Thousand Oaks, CA, USA},
  issn = {0278-3649},
  publisher = {Sage Publications, Inc.}
}

@ARTICLE{Thrun2006-Stanley,
  author = {S. Thrun and others},
  _author = {S. Thrun and M. Montemerlo and H. Dahlkamp and D. Stavens and A.
	Aron and J. Diebel and P. Fong and J. Gale and M. Halpenny and G.
	Hoffmann and K. Lau and C. Oakley and M. Palatucci and V. Pratt
	and P. Stang and S. Strohband and C. Dupont and L.-E. Jendrossek
	and C. Koelen and C. Markey and C. Rummel and J. van Niekerk and
	E. Jensen and P. Alessandrini and G. Bradski and B. Davies and S.
	Ettinger and A. Kaehler and A. Nefian and P. Mahoney},
  _title = {Winning the {DARPA} {Grand} {Challenge}},
  title = {Stanley: {T}he {R}obot that {W}on the {DARPA} {G}rand {C}hallenge},
  journal = {Journal of field Robotics},
  volume = 23,
  number = 9,
  pages = {661-692},
  month = {September},
  year = {2006},
}

@INPROCEEDINGS{Tomatis2002,
  author = {Tomatis, N. and Nourbakhsh, I. and Siegwart, R.},
  title = {Hybrid Simultaneous Localization and Map Building: Closing the Loop
	with Multi-Hypotheses Tracking},
  booktitle = {Proc. of the IEEE International Conference on Robotics and
	Automation, Washington DC, USA, May 11 - 15.},
  year = {2002},
  owner = {Administrator},
  timestamp = {2006.08.14}
}

@MISC{Visser2006,
  author = {A. Visser and P. van Rossum and J. Westra and J. Sturm and D.A. van
	Soest and M. de Greef},
  title = {Dutch AIBO Team at RoboCup 2006},
  howpublished = {Team description paper for the 10th RoboCup International Competition,
	June 2006, Bremen, Germany},
  month = {June},
  year = {2006},
  owner = {Administrator},
  timestamp = {2006.10.02}
}

@INPROCEEDINGS{Pfingsthorn2006,
  _author = {Max Pfingsthorn and others},
  author = {Max Pfingsthorn and Bayu Slamet and Arnoud Visser and Nikos Vlassis},
  title = {{UvA Rescue Team 2006}; {RoboCup Rescue} - {Simulation League}},
  booktitle = {Proc. CD of the 10th RoboCup International Symposium},
  year = {2006},
}

@InProceedings{Visser2008tdp,
        author = {Arnoud Visser and Tijn Schmits and Steven Roebert and Julian de Hoog},
        long_title = {{A}msterdam {O}xford {J}oint {R}escue {F}orces - {T}eam {D}escription {P}aper - {V}irtual {R}obot competition - {R}escue {S}imulation {L}eague - {RoboCup} 2008},
        title = {{A}msterdam {O}xford {J}oint {R}escue {F}orces - {T}eam {D}escription {P}aper - {RoboCup} 2008},
        booktitle = {Proc. CD of the 12th RoboCup International Symposium},
        month = {July},
        year = 2008,
        location = {Suzhou, China},
        _url = {http://www.science.uva.nl/~arnoud/publications/RLVRC_AmsterdamOxfordJointRescueForces_TDP.pdf},
        }

		@INPROCEEDINGS{Visser2008latinopen,
        author = {Arnoud Visser and Tijn Schmits and Steven Roebert and Gideon {Maillette de Buy Wenniger} and Julian de Hoog},
          long_title = {Amsterdam {Ox}ford {J}oint {R}escue {F}orces - {T}eam {D}escription {P}aper  - {V}irtual {R}obot competition - {R}escue {S}imulation {L}eague - {L}atin {A}merican {RoboCup} {O}pen 2008},
          title = {Amsterdam {Ox}ford {J}oint {R}escue {F}orces - {T}eam {D}escription {P}aper  - {L}atin {A}merican {RoboCup} {O}pen 2008},
          year = {2008},
          month = "October",
          pdfurl = {http://www.fei.edu.br/~flaviot/LARC2008/TDP/50786.pdf},
        booktitle = "Proc. of the 5th IEEE Latin American Robotics Competition (LARC 2008)",
        location = "Salvador, Brazil",
        }

@InProceedings{Visser2009tdp,
        author = {Arnoud Visser and Gideon Emile Maillette de Buy Wenniger and Hanne Nijhuis and Fares Alnajar and Bram Huijten and Maarten van der Velden and Wouter Josemans and Bas Terwijn and Christiaan Walraven and Quang Nguyen and Radoslaw Sobolewski and Helen Flynn and Magda Jankowska and Julian de Hoog},
        long_title = {{A}msterdam {O}xford {J}oint {R}escue {F}orces - {T}eam {D}escription {P}aper - {V}irtual {R}obot competition - {R}escue {S}imulation {L}eague - {RoboCup} 2009},
        title = {{A}msterdam {O}xford {J}oint {R}escue {F}orces - {T}eam {D}escription {P}aper - {RoboCup} 2009},
        booktitle = {Proc. CD of the 13th RoboCup International Symposium},
        month = {July},
        year = 2009,
        location = {Graz, Austria},
        _url = {http://www.science.uva.nl/~arnoud/publications/rescue-virtual_AmsterdamOxfordJointRescueForces.pdf},
        }
		
@INPROCEEDINGS{Visser2011rios,
  author = {Arnoud Visser and David de Bos and Hessel van der Molen},
  title = {An {E}xperimental {C}omparison of {M}apping {M}ethods, the {G}utmann dataset},
  booktitle = {Proc. of the RoboCup IranOpen 2011 Symposium (RIOS11)},
  month = {April},
  year = {2011}
}

@MISC{usarsimmanual2006,
  author = {Jijun Wang},
  title = {USARsim v2.0.2, a Game-based Simulation of the NIST Reference Arenas},
  howpublished = {Available on the USARsim website},
  year = {2006},
  date-modified = {2006-11-08 22:39:59 +0100},
  url = {http://usarsim.sf.net/}
}

@INPROCEEDINGS{Wang2003,
  author = {J. Wang and M. Lewis and J. Gennari},
  title = {USAR: A Game-Based Simulation for Teleoperation},
  booktitle = {Proc. of the 47th Annual Meeting of the Human Factors and Ergonomics
	Society},
  year = {2003},
  pages = {493-497},
  address = {Denver, CO},
  date-added = {2006-11-08 21:50:01 +0100},
  date-modified = {2006-11-08 21:53:21 +0100}
}

@INPROCEEDINGS{Wang2003a,
  author = {J. Wang and M. Lewis and J. Gennari},
  title = {Interactive Simulation of the NIST USAR Arenas},
  booktitle = {Proc. of the 2003 IEEE International Conference on Systems,
	Mand and Cybernetics},
  year = {2003},
  pages = {1350-1354},
  address = {Washington, DC, USA},
  month = {October},
  date-added = {2006-11-08 21:54:09 +0100},
  date-modified = {2006-11-08 21:56:32 +0100}
}

@INPROCEEDINGS{Wang2003b,
  author = {J. Wang and M. Lewis and J. Gennari},
  title = {A Game Engine Based Simulation of the NIST USAR Arenas},
  booktitle = {Proc. of the 2003 Winter Simulation Conference},
  year = {2003},
  pages = {1039-1045},
  address = {New Orleans, LA},
  date-added = {2006-11-08 21:56:54 +0100},
  date-modified = {2006-11-08 21:58:07 +0100}
}

@TECHREPORT{Welch1995,
  author = {G. Welch and G. Bishop.},
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  year = {1995},
  owner = {Administrator},
  timestamp = {2006.07.20}
}

@INPROCEEDINGS{Williams2004,
  author = {S. Williams and I. Mahon},
  title = {Simultaneous Localisation and Mapping on the Great Barrier Reef},
  booktitle = {Proc. of the IEEE International Conference on Robotics and
	Automation},
  year = {Jan 2004},
  owner = {Administrator},
  timestamp = {2006.07.20}
}

@MISC{Yahja2000,
  author = {A. Yahja and S. Singh and A. Stentz},
  title = {An efficient on-line path planner for outdoor mobile robots operating
	in vast environments},
  year = {2000},
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	for outdoor mobile robots operating in vast environments, Robotics
	and Autonomous Systems, 33(2&3), 129-143, Aug 2000,.},
  url = {citeseer.ist.psu.edu/yahja00efficient.html}
}

@INPROCEEDINGS{Yamauchi1998,
  author = {Brian Yamauchi},
  title = {Frontier-based exploration using multiple robots},
  booktitle = {AGENTS '98: Proc. of the second international conference on
	Autonomous agents},
  year = {1998},
  pages = {47--53},
  address = {New York, NY, USA},
  publisher = {ACM Press},
  isbn = {0-89791-983-1},
  location = {Minneapolis, Minnesota, United States}
}

@INPROCEEDINGS{Yamauchi1997,
  author = {B. Yamauchi},
  title = {A {F}rontier {B}ased {A}pproach for {A}utonomous {E}xploration},
  booktitle = {Proc. of IEEE International Symposium on Computational Intelligence
	in Robotics and Automation},
  location = {Monterey, CA}, 
  month = {July},
  day = {10-11},
  year = {1997}
}

@MISC{ZivkovicIROSWorkshop,
  author = {Zoran Zivkovic},
  title = {{IEEE/RSJ} {IROS} 2006 {W}orkshop: '{F}rom sensors to human spatial
	concepts'},
  year = {2006},
  date-modified = {2007-02-25 14:07:10 +0100},
  url = {http://staff.science.uva.nl/~zivkovic/FS2HSC}
}

@INPROCEEDINGS{Zlot2002,
  author = {R. Zlot and A. Stentz and M. Dias and S. Thayer},
  title = {Multi-Robot Exploration Controlled By A Market Economy},
  booktitle = {Proc. of the {IEEE} International Conference on Robotics and
	Automation},
  year = {2002},
  text = {Zlot, R., Stentz, A., Dias, M. B., and Thayer, S. 2002. Multi-Robot
	Exploration Controlled By A Market Economy. Proceedings of the IEEE
	International Conference on Robotics and Automation.}
}

@inproceedings{Jacoff2003,
	Author = {A. Jacoff and E. Messina and B.A. Weiss and S. Tadokoro and Y. Nakagawa},
	Title = {Test Arenas and Performance Metrics for Urban Search and Rescue Robots},
	Booktitle = {Proc. of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems},
        Location = {Las Vegas, NE},
        Month = {October},
        Day = {27-31},
        Year = 2003}

@mastersthesis{Hasegawa2004,
	Author = {Bradley R. Hasegawa},
	Title = {Continuous Observation Planning for Autonomous Exploration},
        School = {Massachusetts Institute of Technology},
        Day = 17,
        Month  = "August",
        Year   = 2004,
}

PhDthesis{Frese2004,
author = {U. Frese},
title = {An $O(log n)$ Algorithm for Simultaneous Localization and
Mapping in Indoor Environments},
school = {University of Erlangen-N\"urnberg}
year = 2004,
url = {htpp://www.opus.ub.un-erlangen.de/opus/volltexts/2004/70/},
}

@article{Fox1998,
  author = "D. Fox and W. Burgard and S. Thrun",
  title = "Active Markov Localization for Mobile Robots",
  journal = "Robotics and Autonomous Systems",
  VOLUME           = {25},
  PAGES               = {195-207},
  day = 19,
  Month = "March",
  year = "1998",
}

@inproceedings{Roy1999icra,
  author = "N. Roy and W. Burgard and D. Fox and S. Thrun",
  title = "Coastal Navigation - Mobile Robot Navigation with Uncertainty in Dynamic Environments",
  booktitle = "Proc. of the IEEE International Conference on Robotics and Automation",
  pages={34-40},
  year=1999,
}

@inproceedings{Simmons2000,
    author = "Reid G. Simmons and David Apfelbaum and Wolfram Burgard and Dieter Fox and Mark Moors and Sebastian Thrun and Hakan Younes",
    title = "Coordination for Multi-Robot Exploration and Mapping",
    booktitle = "{AAAI}/{IAAI}",
    pages = "852-858",
    year = "2000"}

@InProceedings{Sim2005,
  author = 	 {Robert Sim and Nicholas Roy},
  title = 	 {Global A-Optimal Robot Exploration in SLAM},
  booktitle =	 {Proc. of the IEEE International Conference on Robotics
  and Automation (ICRA)},
  year =	 {2005},
  address =	 {Barcelona, Spain},
}

@ARTICLE{Burgard2005,
  AUTHOR =	 {W. Burgard and M. Moors and C. Stachniss and
                  F. Schneider},
  TITLE =	 {Coordinated Multi-Robot Exploration},
  JOURNAL =	  "IEEE Transactions on Robotics",
  YEAR    =	 {2005},
  Volume  =      {21},
  number  =      {3},
  pages   =      {376--378}
}


@mastersthesis{Flynn2009thesis,
        Author = {Helen Flynn},
        Title = {Machine Learning Applied to Object Recognition in Robot Search and Rescue Systems},
        School = {University of Oxford},
        Month  = "September",
        Year   = 2009,
	url = {http://www.comlab.ox.ac.uk/julian.dehoog/students/HelenFlynn.pdf},
}

@InProceedings{Fox2006,
  author = 	 {D. Fox and J. Ko and K. Konolige and B. Limketkai and D. Schulz and B. Stewart},
  title = 	 {Distributed Multi-Robot Exploration and Mapping},
  booktitle =	 {Proceedings of the IEEE},
  year =	 {2006},
}


@article{Gonzalez2002,
author = {Gonz{\'a}lez-Ba{\~n}os, Hector H and Latombe, Jean-Claude},
title = {{Navigation Strategies for Exploring Indoor Environments}},
journal = {The International Journal of Robotics Research},
volume = {21},
number = {10-11},
pages = {829-848},
doi = {10.1177/0278364902021010834},
year = {2002},
abstract = {
In this paper, we investigate safe and efficient map-building strategies for a mobile robot with imperfect control and sensing.
In the implementation, a robot equipped with a range sensor builds a polygonal map (layout) of a previously unknown indoor environment.
The robot explores the environment and builds the map concurrently by patching together the local models acquired by the sensor into a global map.
A well-studied and related problem is the simultaneous localization and mapping (SLAM) problem, where the goal is to integrate the information collected during navigation into the most accurate map possible.
However, SLAM does not address the sensor-placement portion of the map-building task.
That is, given the map built so far, where should the robot go next? This is the main question addressed in this paper.
Concretely, an algorithm is proposed to guide the robot through a series of 'good' positions, where 'good' refers to the expected amount and quality of the information that will be revealed at each new location.
This is similar to the next-best-view (NBV) problem studied in computer vision and graphics.
However, in mobile robotics the problem is complicated by several issues, two of which are particularly crucial.
One is to achieve safe navigation despite an incomplete knowledge of the environment and sensor limitations (e.g., in range and incidence).
The other issue is the need to ensure sufficient overlap between each new local model and the current map, in order to allow registration of successive views under positioning uncertainties inherent to mobile robots.
To address both issues in a coherent framework, in this paper we introduce the concept of a safe region, defined as the largest region that is guaranteed to be free of obstacles given the sensor readings made so far.
The construction of a safe region takes sensor limitations into account. In this paper we also describe an NBV algorithm that uses the safe-region concept to select the next robot position at each step.
The new position is chosen within the safe region in order to maximize the expected gain of information under the constraint that the local model at this new position must have a minimal overlap with the current global map.
In the future, NBV and SLAM algorithms should reinforce each other.
While a SLAM algorithm builds a map by making the best use of the available sensory data, an NBV algorithm, such as that proposed here, guides the navigation of the robot through positions selected to provide the best sensory inputs.
},
URL = {http://ijr.sagepub.com/cgi/content/abstract/21/10-11/829},
eprint = {http://ijr.sagepub.com/cgi/reprint/21/10-11/829.pdf}
}


@mastersthesis{Jankowska2009thesis,
        Author = {Magdalena Jankowska},
        Title = {A Hough Transform Based Approach to Map Stitching},
        School = {University of Oxford},
        Month  = "September",
        Year   = 2009,
	url = {http://www.comlab.ox.ac.uk/julian.dehoog/students/HelenFlynn.pdf},
}

@article{Bourgault2004,
	Author = {Fr�d�ric Bourgault and Ali G{\"o}kto\v{g}an and Tomonari Furukawa and Hugh F. Durrant-Whyte},
        Title = {Coordinated search for a lost target in a Bayesian world},
        Journal = {Advanced Robotics},
        Volume = 18,
        Number = 10,
        Pages = {979-1000},
        Year = 2004,
}



@Inproceedings{Makarenko2002,
	author = {"A. Makarenko and S. Williams and F. Bourgault and H. Durrant-Whyte"},
	title  ={ "An Experiment in Integrated Exploration"},
	year = {2002},
	booktitle = {Proc. of the IEEE/RSJ Intl.
    Conf. on Intelligent Robots and Systems (IROS), Lausanne, Switzerland,}
}


@incollection{Rooker2006,
   Author = {Rooker, Martijn N. and Birk, Andreas},
   Title = {Communicative Exploration with Robot Packs},
   BookTitle = {{RoboCup} 2005: Robot Soccer World Cup IX},
   _Editor = {Noda, Itsuki and Jacoff, Adam and Bredenfeld, Ansgar and Takahashi, Yasutake},
   Series = {Lecture Notes in Artificial Intelligence (LNAI)},
   Publisher = {Springer-Verlag},
   Volume = {4020},
   Pages = {267 - 278},
   Year = {2006} }

@article{Rooker2007,
Author = {Rooker, Martijn N. and Birk, Andreas},
Title = {Multi-robot exploration under the constraints of wireless networking},
Journal = {Control Engineering Practice},
Volume = {15},
Number = {4},
Pages = {435-445},
Year = 2007,
}

@inproceedings{Carpin2007,
  title = {USARSim: a robot simulator for research and education},
  author = {Stefano Carpin and Mike Lewis and Jijun Wang and Stefano Balakirsky and Chris Scrapper},
  year = 2007,
  booktitle = {Proceedings of the IEEE Conference on Robotics and Automation (ICRA'07)},
  pages = {1400-1405},
  _url = {https://robotics.ucmerced.edu/Robotics/papers/usarsimpaper.pdf},
}

@article{Crane2006,
  title = {Team {CIMAR's} {NaviGator}: {An} unmanned ground vehicle for the 2005 {DARPA} grand challenge},
  author = {Carl D. {Crane III} and others},
  _author = {Carl D. {Crane III} and  David G. {Armstrong II} and Robert Touchton and Tom Galluzzo and Sanjay Solanki and Jaesang Lee and Daniel Kent and Maryam Ahmed and Roberto Montane and Shannon Ridgeway and Steve Velat and Greg Garcia},
  journal = {Journal of Field Robotics},
  volume = 23,
  number = 8,
  month = {Augustus},
  year = 2006,
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}

@book{Choset2005,
   author = "Howie Choset and Kevin M. Lynch and Seth Hutchinson and George A Kantor and Wolfram Burgard and Lydia E. Kavraki and Sebastian Thrun",
   title = "Principles of Robot Motion: Theory, Algorithms, and Implementations",
   publisher = "MIT Press",
   month = "June",
   year = "2005",
   isbn = "0-262-03327-5"
}

@article{Seraji2003,
  author = {Homayoun Seraji},
  title = {New {T}raversability {I}ndices and {T}raversability {G}rid for {I}ntegrated {Sensor/Map-Based} {N}avigation},
  journal = {Journal of Robotic Systems},
  volume = 20,
  number = 3,
  month = {February},
  year = 2003,
  pages = {121-134},
  _url = {http://www3.interscience.wiley.com/journal/103520620/abstract?CRETRY=1&SRETRY=0},
}
@mastersthesis{Sobolewski2009thesis,
        Author = {Radoslaw Sobolewski},
        Title = {Machine Learning for Automated Robot Navigation in Rough Terrain},
        School = {University of Oxford},
        Month  = "September",
        Year   = 2009,
	url = {http://www.comlab.ox.ac.uk/julian.dehoog/students/RadoslawSobolewski.pdf},
}

@inproceedings{Ye2004,
title = {T-transformation: Traversability analysis for navigation on rugged terrain},
author = {Cang Ye and Johann Borenstein},
booktitle = {Proceedings of the SPIE Defense and Security Symposium, Unmanned Ground Vehicle Technology VI (OR54)},
location = {Orlando FL},
day = {12-16},
month = {April},
year = 2004,
_url = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.77.2540&rep=rep1&type=pdf},
}

@misc{BscThesisHesselDTL,
author={van der Molen, H.},
title={``{S}elf-localization in the {R}obo{C}up {S}occer {S}tanderd {P}latform {L}eague with the use of a {D}ynamic {T}ree"},
note ={Bachelor Thesis, University Of Amsterdam},}

@misc{DutchNaoTeamTDP2010,
author = {A. Visser and R. Iepsma and M. van Bellen and R. Kumar Gupta and B. Khalesi}, 
title = "Dutch Nao Team - Team Description Paper - Standard Platform League - German Open 2010", 
month = "January",
day = 30, 
year = 2010
}

@misc{DutchNaoTeamQualification,
author = {{Dutch Nao Team}}, 
title = "Team Description for RoboCup 2011", 
month = "December",
year = 2010
}

@article{Bentley1975,
 author = {Bentley, Jon Louis},
 title = {Multidimensional binary search trees used for associative searching},
 journal = {Commun. ACM},
 volume = {18},
 issue = {9},
 number = {9},
 month = {September},
 year = {1975},
 _issn = {0001-0782},
 pages = {509--517},
 numpages = {9},
 url = {http://doi.acm.org/10.1145/361002.361007},
 _doi = {http://doi.acm.org/10.1145/361002.361007},
 acmid = {361007},
 publisher = {ACM},
 address = {New York, NY, USA},
 keywords = {associative retrieval, attribute, binary search trees, binary tree insertion, information retrieval system, intersection queries, key, nearest neighbor queries, partial match queries},
} 

@misc{vanBellen2011,
author = {Maurits van Bellen and Robert Iepsma and Merel de Groot and Arjen Swellengrebel}, 
title = "Zone Blocking", 
howpublished = "project report, Universiteit van Amsterdam",
institution = "Universiteit van Amsterdam",
month = "June",
year = 2011,
}

@inproceedings{AIBOTeam2006,
author = {A. Visser and P. van Rossum and J. Westra and J. Sturm and D.A. van Soest and M. de Greef}, 
title = "Dutch AIBO Team at RoboCup 2006",
booktitle = "Proceedings CD of the 10th RoboCup International Symposium",
location = {Bremen Germany},
month = {June},
year = 2006,
}

@inproceedings{AIBOTeam2005,
author = {Niek Wijngaards and F. Dignum and P. Jonker and T. de Ridder and A. Visser and S. Leijnen and J. Sturm and S. Weers},
title = "Dutch AIBO Team at RoboCup 2005", 
booktitle = "Proceedings CD of the 9th RoboCup International Symposium",
location = {Osaka},
month = {July},
year = 2005,
}

@inproceedings{AIBOTeam2004,
author = {S. Oomes and P. Jonker and M. Poel and A. Visser and M. Wiering}, 
title = "Dutch AIBO Team at RoboCup 2004", 
booktitle = "Proceedings CD of the 8th RoboCup International Symposiums",
location = {Lisbon},
month = {July},
year = 2004,
}

@inproceedings{ArnoudJurgen2009,
author = {Jurgen Sturm and Arnoud Visser},
title = "An appearance-based visual compass for mobile robots", 
booktitle = "Robotics and Autonomous Systems",
pages = {536-545},
year = 2009,
}

@inproceedings{RoboticDog2008,
author = {Martijn Liem and Arnoud Visser and Frans Groen},
title = "A Hybrid Algorithm for Tracking and Following People using a Robotic Dog", 
booktitle = "Proceedings of Third International Conference on HumanRobot Interaction (HRI 2008)",
pages = {185-192},
location = {New York United States of America},
year = 2008,
}

@inproceedings{Panoramic2007,
author = {Jurgen Sturm and Paul van Rossum and Arnoud Visser},
title = "Panoramic Localization in the 4-Legged League: Removing the dependence on artificial landmarks",
booktitle = "RoboCup 2006: Robot Soccer World Cup X",
pages = {185-192},
location = {New York},
year = 2007,
month = {October},
}

@inproceedings{ColorLearning2006,
author = {David van Soest and Mark de Greef amd Jürgen Sturm and Arnoud Visser},
title = "Autonomous Color Learning in an Artificial Environment",
booktitle = "Proceedings of the 18th Dutch-Belgian Artificial Intelligence Conference",
pages = {299-306},
location = {Namen Belgium},
year = 2006,
month = {October},
}

@inproceedings{Localization2006,
author = {Arnoud Visser and Jurgen Sturm and Frans Groen},
title = "Robot companion localization at home and in the office",
booktitle = "Proceecings of the 18th Dutch-Belgian Artificial Intelligence Conference",
pages = {347-354},
location = {Namen Belgium},
year = 2006,
month = {October},
}

@inproceedings{Perception2005,
author = {B. Slamet and A. Visser},
title = "Purposeful perception by attention-steered robots",
booktitle = "Proceedings of the 17th Dutch-Belgian Artificial Intelligence Conference",
pages = {209-215},
location = {Brussels Belgium},
year = 2005,
month = {October},
}

@misc{Verschoor2011Iran,
author = {C. R. Verschoor},
title = "Iran Travel Document",
howpublished = "Information document",
institution = "Universiteit van Amsterdam",
month = "March",
year = 2011,
}

@misc{Verschoor2011Istanbul,
author = {C. R. Verschoor},
title = "Istanbul Travel Document",
howpublished = "Information document",
institution = "Universiteit van Amsterdam",
month = "June",
year = 2011,
}

@book {Bradski2008,
	title = {Learning OpenCV},
	year = {2008},
	publisher = {O{\textquoteright}Reilly Media Inc.},
	organization = {O{\textquoteright}Reilly Media Inc.},
	keywords = {AI, artificial intelligence, computer vision, machine learning, perception, vision},
	issn = {978-0-596-51613-0},
	url = {http://oreilly.com/catalog/9780596516130},
	author = {Gary Bradski and Adrian Kaehler},
	pdf = {http://www.cse.iitk.ac.in/users/vision/dipakmj/papers/OReilly%20Learning%20OpenCV.pdf},
}

